翻譯英文原文UsBureauofMinesCoalMiningAutomationResearchJHWELSHandJEBEVANABSTRACTTheUSBureauofminesisconductingresearchtoimprovethehealthandsafetyforundergroundcoalminers,andtheefficiencyoftheminingsystemsthatareused.In1986,theBureaubeganamajorresearcheffortonthetechnologyforcomputer-assistedminingsystemsforundergroundcoalmines.Theinitialtargetwastechnologyforcontinuousminingmachinesthatwouldallowthemtoextractcoalbycomputer-assistedoperation,Technologyareasbeinginvestigatedincludeguidancesystems,computersystems,machinecontrol,human-machineinterfacesandplanning.Ineachoftheseareas,individualsystemdevelopmenthasprogressedtowhereundergroundtestingofthesesystemswillbeginin1991.Inadditiontocoalextraction,theBureauhasalsobegunresearchforthedevelopmentoftechnologyforcomputer-assistedroofbolting.TheBureauisdevelopingtechnologyfora“smart”roofbolterthatwouldbeabletosenseandanalyzestrataconditionstodeterminethelocationofthehole,drilltheholetolength,andselectandinstalltheappropriatebolt.Theresearchonthecontinuousminingandtheroofbolterarewelladvanced.INTRODUCTIONWorkinginundergroundcoalminescontinuestobeoneofthemosthazardousofoccupations,Between1984and1989,14181accidentsoccurredatthefaceareaofcontinuousminingsectioninUSundergroundcoalmines.Thiswas18percentofallinjuriesand21percentofallfatalitiesandpermanentdisabilities.Inaddition,faceworkersareexposedtohealthhazardssuchasequipmentnoise,wherein1988,6981newblacklungcaseswerefiledintheUS.Thetraditionalapproachtohealthandsafetyproblemsinmineshasbeentoreducethehazardthroughgroundcontrol,dustcontrol,methanecontrol,andnoisecontrol.Whilethisapproachhasbeenverysuccessfulinthepastinreducingthehazardsinmines,healthandsafetyhazardsstillexist,andaccidentsandhealthproblemsarestilloccurring.Tomakeafurthersignificantreductioninthenumberofaccidentsandexposurestohealthhazards,anewapproachisneeded.In1986,theBureauofMinesinitiatedanewapproachthatwouldallowworkerstoberelocatedfromthefacetoasafe,healthfulenvironment,wheretheycouldperformtheirjobs.Althoughthisapproachhadbeenthoughtofearlier,onlyrecentadvancementsincomputerandsensortechnologyhavemadeitaviablealternative.Whilehealthandsafetyisamajorconcern,technologythatwouldalsoprovideforimprovementsinminingefficiencywasalsodesirable.Recentstatisticsshowthatcontinuousminersonlyextractcoalabout32percentoftheavailableshifttime.Thismeansthatevensmallimprovementsinminingefficiencycouldresultindramaticinproductivity.Overthelastseveralyears,aBureauofMinesprogramforcomputer-assistedmininghasbeendevelopedthatiscenteredaroundacomprehensivelong-rangeresearchplanthattargetsthegoalsoftheprogramandprovidesacoordinationofresearch.ThisresearcheffortinvolvesmultipleprojectsandresearchersatdifferentBureaucenters.Inthenearterm,researchtargetscurrent,commerciallyavailableminingequipmentoperatingintypicalminingsection.Thetargetisfurtherdefinedtoacontinuousminingsectionwithroom-and-pillar,longwalldevelopment.ThisscenariowasselectedbecauseithaswideapplicabilitytoUSmining,andstandstomakeasignificantimpactonthehealth,safety,andefficiencyoftheUSminingindustry.Researchforcomputer-assistedminingsystemsincludescoalextractionwithacontinuousminingmachine,roofbolting,haulage,andventilation.Forthelongerterm,researcherswillinvestigateminingsystemsandconceptstodetermineifnewminingsystemsthatcantakeadvantageofadvancesinroboticstechnologyshouldbepursued,and/orifchangesintheminingmethodsshowpromiseofhealth,safety,andefficiencyimprovements.COMPUTER-ASSISTEDMININNG,DEFINEDAtypicalcontinuousminingsectionconsistsofacontinuousminingmachine,aroofboltingmachine,andoneortwoshuttlecars.Thefaceareawherethisequipmentisoperating,andwhereunsupportedroofisexposedduringtheextractionprocess,posesthegreatestthreatintermsofhealthandsafetytotheworkers.Withcomputer-assistedmining,sensorsandcomputertechnologywouldbeaddedtothefaceequipmenttoallowtheoperatortoberelocatedtoacontrolroompositioned150to180metersoutbytheface.Thecontrolroomwouldbepositionedinfreshair,andtheenvironmentwouldbecontrolledtoprovideahealthfulworkareawithlittleornodustandnoise.Variouslevelsofcomputer-assistedminingexist,fromteleoperationtocomputer-assistedoperation,andaredescribedintheremainderofthissection.Tooperateminingequipmentatthefacefromacontrolroomwhichisnotimline-of-sightviewoftheequipment,theoperatormustrelyoninformationfromsensorsandvideocamerasinstalledontheequipment.Initialresearchwillinvolveteleoperation,wheretheoperatoressentiallyperformsthesamejobashe/shewouldwhenoperatingtheminingequipment,onlyataremotelocation.Theoperatorwillrelyoninputfromthevideocamerasinstalledonthemachineand/orintheareaofoperation,sensorsthatprovidethepositionofthemovableparts(cuttingboom,gatheringpan,conveyor,etc.)ofthemachine,guidancesensorsthatprovideinformationthatanoperatorwouldnormallyhaveavailableattheface,suchasfacenoise.Acomputersystemwillcollectthedatafromthesensors,presenttheinformationtotheoperatorthroughahumaninterfacesuchasgraphicsordialsandgauges,andcontrolmovementsofthemachinebasedonoperatorinitiatedcommands.Asmoresensorsareinstalledontheequipmentandmoreintelligentcomputersoftwareisdeveloped,themachine-controlscenariowillevolvetocomputer-assistedoperation.Thecomputercontrolsystemwillprogressivelymakemoreoftheroutinedecisionstowheretheoperatoronlyinterveneswhenanabnormalsituationarises,suchaswhenacompletelynewsituationisencountered.Machineactionsareautomaticalllyinititedbythecontrolcomputerbasedonsensorinputandsoftwareanalysisanddecision-making.Forthistypeofoperation,additionalsensorsandintelligentsoftwarearerequiredthanforteleoperation.Sensorsformachinepositionandheading,machinecondition,thepositionofthemoveablepartsofthemachine,andthetypeofmaterialthemachineiscuttingareneeded.Thesoftwaremustguidetheminingmachinefollowingaplanthatcanbealteredbylocalconditionsandeventsasdeterminedfromreal-timesensorinput.Thehumanelementformachineoperationisalwaysexpectedtobeneededinundergroundcoalminesbecauseofthevariabilityofconditionsthatareencounteredandthedifficultytodevelopsensorsandcomputersoftwarethatcanprovidethesamelevelofintelligenceandperceptionasahuman.Theobjectiveofthisresearchistoevaluateanddeveloptheenablingtechnologyforcomputer-assistedcontinuousminingandroofboltingmachines.Workisalsoon-goinginotherareassuchasventilationforcomputer-assistedmining(Volkwein,GoodmanandThiemens,1990)andcontinuoushaulagesystems(Bhatt,1990).Theremainderrelatedtothesetwomachines.Additionaldetailsonthecomputer-assistedminingprogramcanbefoundinthereferences(Schnakenbenberg,1988,1989,1990).COMPUTER-ASSISTEDCONTINUOUSMININGMACHINETechnologycomponentsThetechnologycomponentsrequiredforanyintelligentmachinesystemaretheguidancesystem,machineconditionsystem,computersystem,machinecontrol,human-machineinterfaceandplanning.Foracomputer-assistedmachine,thesamelistapplies,wherethebasicmachineisadrum-typecontinuousminingmachine.Guidancesysteminvolvebothhorizontalmovementsoftheminingmachineintheminespaceandverticalmovementsofthecuttingboom.Forahorizontalguidance,acomputer-assistedminingmachinemustnotonlybeabletoguideitselfwhileitisextractingcoal,butalsowhilemovingthroughouttheentiremine.Thisrequiressensorstoprovideinformationonmachinelocationcoordinates(x,y),machineyaw(heading),andthelocationanddistancetominewallsandobstacles.Thecomputersystemmusttotakethissensorinformation,andusingstoredknowledge,planmachinemoves,positionthemachineatthefacesocuttingcanoccur,andconstructorupdatemaps,allinreal-time.TheBureauhasdividedthehorizontalnavigationproblemintothereareas:theface,thesection,andthewholemine.Thefacenavigationproblemisbeinginvestigatedfirst.Oncethisproblemissolved,navigationinthesectionandthewholeminewillberelativelyeasy.Acomputer-assistedminingmachinemustalsobeabletokeepitscuttingboomwithinthecoalseamandmineonlycoal,ortosomeotherparticularpatterndependingontherequirementsandgeologyattheminesite.Forverticalguidanceofthecuttingboom,asensorsystemisneededthatcandeterminethethicknessofcoalleftontherooforfloor,orthatcandeterminewhenthecuttingactioncrossestheboundaryfromcoaltorock.Thisresearchisknownascoal-rockinterfacedetection(CID).Machineconditioninvolvesthedetermination,inreal-time,oftheconditionofthemajorelectricalandhydrauliccomponentsofacontinuousminingmachine,toaidintheefficientandtimelyrepairofthemachinewhenafailureoccurs.Ultimately,thissystemshouldbeabletopredictacomponentfailureinadvanceofitsoccurrencesothatmaintenancecanbescheduledduringnonproductiontimes.Sincemachinedowntimeisasignificantfactorinthelowproductiontimeexperiencedwithcontinuousminingmachine,anincreaseinmachineavailabilitywillhaveasignificantimpactonefficiencyandproductivity.Computersystemsprovidethebackboneforcomputer-assistedmining.Thecomputermustinterfacetoavarietyofinternal(machinesystem)andexternal(surroundingenvironment)sensors,gatherdatafromthesensors,makedecisionbasedonthereal-timesensordata,andinitiateandcarryoutmachinecontrol.Machinecontrolinvolvesestablishingaccuratecomputer(Sammarco,1988a)ofthemovingpartsoftheminingmachineincludingcuttingboom,gatheringpan,conveyor,stabilizerjack,andlocomotiontracks.Closed-loopcomputercontrolorcontrolbasedonsensorfeedbackmustbeestablishedwhichisaccurateandstable.Toestablishclosed-loopcontrol,thefollowingtasksarerequired:selectasensorthatprovidesthepositionofthemachineparttobecontrolled;developthecomputer-sensorandmachine-sensorinterface;testthemachineandsensorsystem;analyzethedata;formulatecontrolalgorithms;testthecontrolinfreespace;testthecontrolunderminingconditions(cuttingsimulatedcoal);analyzedata.;repeattheabovestepsasnecessary.Human-machineinterfacearerequiredsothatanoperatorcaninteractwithacomputer-assistedmachinetoprovideefficientmachinecontrol.Anoperatormayinteractwiththemachinethroughaninterfacetoprovidenewinformation,changeprioritiesorplans,orintervenewhenanewconditionorsituationisencountered.Planningreferstothesoftwarethatisnecessarytocontrolthewholemachineprocess,tomakeaminingmachineoperateaccordingtosomepredeterminedsequence.Inarobotfactoryfloorapplication,wherearobotisperformingaroutine,repetitiveaction,softwaretocontroltherobotissimple.However,withaminingmachine,thesituationismuchmorecomplex.Theenvironmentcanchange;andtheminegeometrychangesascoalismined.Theplannersoftwaremustbeabletoreacttochangingconditionsandinitiateanappropriateactionfortheconditionencountered,allinreal-time.Thesearetheareasinwhichresearchersareevaluatinganddevelopingtheenablingtechnologyforcomputer-assistedmining.Thestatusofthisdevelopmentisdiscussedinthenextsection.TechnologyevaluationanddevelopmentSincethestartofthecomputer-assistedminingprogram,significantprogresshasbeenmadeineachofthetechnologyareasrequired.Anavigationschemeforhorizontalguidance(Anderson,1989a)wasdefinedforacomputer-assistedminingmachineoperatinginaroom-and-pillar,two-passminingscenario.Thenavigationscheme,makesuseofbothon-and-offmachinesensorsthatworktogethertoprovidetheinformationneededfornavigation.Sensorsselectedforevaluationanddevelopmentarealasergyroscope,ultrasonicrangers,amechanicallinepullsystem,andclinometers.(Note:Afluxgatecompasswastestedearlyintheprogramandwasdeterminedtobeunsuitableforminingmachinenavigation,Sammarco,1990).Thelaserscannersystem(Anderson,1989b)usescommerciallyavailablelaserunitsthataremountedonanoff-machinereferencestructure.Itscansahorizontalplaneforretroreflectivetargetswithinits11mrangeand105°fieldofview.Theretroreflectivetargetsaremountedontheminingmachine.Thelaserscannersdeterminetheangularpositionofthedetectedtargets.Inthepresentconfiguration,twolaserscannersandtwotargetsareused.Whenthetargetsareplacedinaknown,fixedgeometryontheminingmachine,thex-ypositionandyawoftheminingmachinearedeterminedbytriangulationbytheanglesreportedbythelaser.Anothernavigationsystem,similartothelaserscannersystem,isamechanicalpositionandheadingsystem(Jobes,1990).Itusesline-pulllinertransducersmountedontheminingmachine(twotransducersoneachcorner),withtheendsofthetransducerpaircordsconnectedtotheribsonoppositesidesofanentryortooppositesidesofareferencestructure.Throughtriangulationthismechanicalline-pullsystemalsoprovidesx-ypositionandyawoftheminingmachine.Theon-boardnavigationsystems(Sammarco,19988b)includeagyroscope,clinometers,andultrasonicrangingdevices.Thegyroscopeidusedforshort-termcontrolofmachineheadingrelativetoapreviousheading.Clinometersprovidepitchandrollofthemachine.Ultrasonicrangingdevicesareusedforindicatingthepositionofribsandcorners,andlocatingobstacles.Atpresent,eachofthenavigationsensors,excepttheringlasergyroscope,hasbeenindividuallytestedandevaluatedonthesurfaceforperformanceandaccuracy.UndergroundtestingisscheduledtobegininFebruary1991.Sinceeachoftheindividualsensingsystemhaslimitations,thepresentnavigationconceptforminingmachineguidancewillinvolvethefusionofdatafromeachofthesystems,utilizingthemostaccuratereadingstoupdatereferencesfortheothersystems.Forverticalguidanceofthecuttingboom,coal-rockinterfacesensorsarebeingdeveloped.Aswithhorizontalguidance,multiplecoalinterfacesensorsystemsarebeinginvestigatedandwillworktogetherthroughfusionofsensordata,thisisnecessaryinmostUScoalseamsbecausegeologyvarieswidely,evenlocally,tosuchanextentthatasinglesensorsystemwillnotabletoprovideaccurateguidance.Techniquesbeinginvestigatedincludemachinevibration,in-seamseismicvibration,naturalgammaradiation,infraredthermography,radar,andx-rayfluorescence.Theapproachformachineandin-seamseismicvibrations(Mowrey,1990a)aresimilar.Accelerometersareusedtosensevibrationsignalsgeneratedastheminingmachineiscuttingcoalorrockmaterial.Inonecasetheyareattachedtotheminingmachinetosensemachinevibration,andintheothertheyareattachedtothecoal,roof,and/orfloor,tosensein-seamseismicvibration.Differentsignalsaregeneratedwhentheminingmachineiscuttingcoalversuswhenitiscuttingrock.Powerful,intelligentsignalprocessingsoftware,calledadaptivesignaldiscriminationnetworks,areusedtodiscriminatethedifferenceinsignals,inpractice,foragivengeology,thesystemisinitiallytrainedbypurposelycuttingcoal,andthenrock,toshowthesystemwhatthevibrationsignalslooklikeineachcase.Thesystemthendevelopsasetofclassifiersthatareusedtodeterminewhataccuracyachievedsofaris65to75percentcorrectlyclassified.Effortsarefocusedonwaystoimprovetheaccuracytobetterthan90percent.Naturalgammaradiationsensorsystems(MaksimovicandMowrey,1990)havebeenusedsuccessfullyinEuropetodetermineremainingroofcoalthicknesstoguidetheverticalcuttingoflongwallshearers.ThesesensorsarealsocommerciallyavailablefromtwoUSsuppliers,andhavebeenusedinseveralminesintheUSwithsomesuccesses.Tousethissensorsystem,theimmediateroofmaterialmustbeshale-type,whichtypicallyhashighernaturalgammaradiationthandoescoal.BureauresearchfornaturalgammaradiationsensorsisinvestigatingthegeologyofthemajorUScoalseamstodeterminehowwidespreadtheapplicabilityofthistechniqueis.Inaddition,sensorplacement,rangeofaccuracy,andguidanceofftheminefloorarebeinginvestigated.Infraredthermographysystem(Mowrey,1990b)areabletodetectchangesinthermographyenergyproducedasaminingmachinecutsmaterialsofdifferenthardness.Forexample,asaminingmachinecutscoal,acertainamountofthermalenergyisproduced.Asthecuttingpicksbegintostrikeahardersandstoneroof,morethermalenergymaybeproduced.Aninfraredthemographysystemthatcandetectthermalenergyproducedcanbeusedtodeterminewhenthecuttingactionhascrossedtheboundaryfromcoaltoroofstrata.Researchersareusingbothaninfraredthermalcamerathatcanviewthewholefacearea,andaninexpensivepointthermalsensorthatcanbeaimedataparticularbit,todeterminethermalenergyproduced.AnothertechniqueforCIDisaradarcoalthicknesssystem.Anon-contactingradarsensorthatmeasurethecomplexreflectioncoefficientatthesurfaceofanymaterial,asameanstodeterminethethicknessofcoalleft,isbeingdeveloped.Anetworkanalyzerisusedtoresolvesub-wavelengthdimensionsbymakingmatrixmeasurementsinthefrequencyandapacedomains.Researchisconcentratingondevelopingthecomputermodelsandantennafixturesforthissystem.Preliminaryundergroundteststomeasureroofcoalandribthicknessproducedgoodresults,wherecoalthicknesswasmeasuredwithin6mm.AnX-Rayfluorescencesystemforcoal-rockinterfacedetectionisinpreliminarystagesofinvestigation.Thebureauisaddressingtheproblemofmachineconditionandfailuresbyapplyingcomputerandsensortechnologytothehydraulicandelectricalsystemsofacontinuousminingmachine.Forhydraulicsystemdiagnostics(Mitchell,1990),asensor-basedexpertsystemtechniqueisbeingusedtoassistinthedetectionanddeterminationofthecauseoffailuresinhydrauliccomponents.Theknowledgeofmaintenanceandhydraulicsexpertisincorporatedintotheknowledgebaseofanexpertsystem.Thisknowledge,alongwithreal-timeinformationsuppliedbyhydraulicsystemsensorsontheminingmachine,areusedbytheexpertsystemtodetectanddiagnosecomponentfailures.Sensorsincludetemperature,flow,pressure,fluidlevel,andcontaminentsinthehydraulicfluid.Agraphicinterfaceisbeingdevelopedtoassistinsystemoperationanddiagnosis.Afutureadditionwilladdprognosiscapabilitysodegradationofhydraulicsystemcomponentscanbedetectedinadvanceoffailuretoavoiddowntimeduringproductiontime.Adiagnosticsystemhasalsobeendevelopedfortheelectricalcontrolcircuitofacontinuousminingmachine.Acomputer-based,algorithmictechniquewasselectedforthissystem.Thisapproachwaspossiblesincetheinformationrequiredtodiagnoseacontrolcircuitfailurewasobtainablefromsensors,andsimplemathermaticalrelationscouldbeestablishedbetweensensorinputsandfailures.Thesystemdiagnoses19commonlyoccurringfailuresofacontinuousminingmachinecontrolcircuitbymeasuring35voltagepoints.Adisplayontheminingmachineidentifiesthecauseoffailure.Thecomputertiesthesensorandmachinecontrolsystemstogethertoformacomputer-assistedminingsystem.Atthelowestlevelithandlestheclosedloopcontrolofthevariousappendages.Inthisroleittakesdatafromthesensorsprovidingthepositionofthemovablepartsofthemachine,comparesthesevaluestothedesiredtargetvalue,andinitiates,maintains,orstopsmovementofthemovablepartsasnecessary.Athigherlevels,ithandlestheplanningandmachinemovementsrequiredtoextractcoalaccordingtoaminingplan.Allofthetechnologydiscussedhasbeenthoroughlytestedandevaluatedinthelaboratory.

中文翻譯美國煤炭局采煤機(jī)自動(dòng)化研究JHWELSHandJEBEVAN摘要美國煤炭局正在進(jìn)行研究改善地下礦工的健康和安全,和被用的采礦制度的效率。在1986年，煤炭局為地下的煤礦關(guān)于計(jì)算機(jī)輔助采煤系統(tǒng)開始了在技術(shù)方面的一個(gè)主要的研究努力。開始的目標(biāo)是通過計(jì)算機(jī)輔助操作采煤的連續(xù)采煤機(jī)的技術(shù)，研究的技術(shù)領(lǐng)域包括引導(dǎo)系統(tǒng),計(jì)算機(jī)系統(tǒng)、機(jī)器控制,人-機(jī)接口和計(jì)劃。在這些每一個(gè)領(lǐng)域中，個(gè)別的系統(tǒng)的發(fā)展已經(jīng)促進(jìn)這些系統(tǒng)的地下測試在1991年將會(huì)開始。除了采煤之外，煤炭局對計(jì)算機(jī)輔助頂梁螺栓技術(shù)的發(fā)展也已經(jīng)開始研究。煤炭局正在為"聰明的"頂梁螺栓發(fā)展技術(shù)，它能夠感覺并且分析層情況以便決定洞的位置,鉆孔的長度,而且選擇并且安裝適當(dāng)?shù)穆菟?。關(guān)于連續(xù)采煤和頂梁螺栓的研究進(jìn)行得很好。介紹在地下的煤礦中工作仍然是最危險(xiǎn)的職業(yè)之一,在1984和1989年間,14181起意外事件發(fā)生在美國的連續(xù)采煤區(qū)段的工作面區(qū)域。18%的受傷，21%的致命和永久的殘疾。此外，工作面工人還遭受健康危險(xiǎn)，如設(shè)備噪音,在1988年,美國有6981個(gè)新的黑肺病案例。傳統(tǒng)的解決煤礦健康和安全問題方式是是通過地面控制,除塵控制,甲烷控制,和噪音控制減少危險(xiǎn)。雖然這方法過去已經(jīng)在采煤時(shí)減少危險(xiǎn)方面非常成功,但健康和安全危險(xiǎn)仍然存在,意外事件和健康問題仍然正在發(fā)生。為了對意外事件和健康危險(xiǎn)暴露的數(shù)字作進(jìn)一步的重要減少，新的方法是不可或缺的。在1986年,煤炭局開始了讓工人從工作面被重新配置到他們可以運(yùn)行他們的工作的安全又有益健康的環(huán)境的新方法。雖然這方法很早就被想到了,但是只有在近來的計(jì)算機(jī)和感應(yīng)器技術(shù)的進(jìn)步下才使它成為可能的替代選擇。健康和安全是主要的擔(dān)憂，同時(shí)提供在采煤效率的進(jìn)步技術(shù)也是令人想要的。最近的統(tǒng)計(jì)學(xué)表示連續(xù)的礦工只采煤可得的變化的大約32%的時(shí)間。這意味著在采煤效率很小的提高就可以造成巨大的產(chǎn)量。過去幾年以來,煤炭局對計(jì)算機(jī)輔助采煤項(xiàng)目已經(jīng)有了發(fā)展，它集中對準(zhǔn)綜合廣泛研究計(jì)劃，以項(xiàng)目目標(biāo)為目的，而且提供研究協(xié)調(diào)性。這個(gè)研究涉及不同的煤炭局中心的多個(gè)計(jì)劃和研究員。近期，研究對準(zhǔn)在典型的采煤區(qū)段中操作的現(xiàn)在又商業(yè)化可得的采煤設(shè)備。目標(biāo)更進(jìn)一步被定義到一個(gè)連續(xù)的采礦區(qū)段，即硐室-支柱，長壁采煤的發(fā)展。因?yàn)樗袑γ绹擅旱膶掃m用性,而且對于美國采煤業(yè)的健康、安全和效率有重要的影響，所以這一個(gè)情境被選擇。對計(jì)算機(jī)輔助采煤系統(tǒng)的研究包括用一部連續(xù)采煤機(jī)、支架,拖曳、和通風(fēng)進(jìn)行采煤。在較長的一段時(shí)間里，研究員將會(huì)研究采煤系統(tǒng)和概念決定利用自動(dòng)技術(shù)的新的采煤系統(tǒng)能是否值得追求，以及/或是否采煤方法的改變在健康、安全和效率有改善。計(jì)算機(jī)輔助采煤,定義一個(gè)典型的連續(xù)采礦區(qū)段有連續(xù)采煤機(jī)、頂梁支架、和一或兩個(gè)運(yùn)輸機(jī)。這個(gè)設(shè)備正在運(yùn)行的工作面區(qū)域,和在采煤過程中未支頂梁被暴露,對工人的健康和安全造成最大的威脅。由計(jì)算機(jī)輔助采煤、感應(yīng)器和計(jì)算機(jī)技術(shù)會(huì)被加到工作面設(shè)備讓操作員重新安置在遠(yuǎn)離工作面150-180米的控制室?？刂剖覍仓迷谟行迈r的空氣，而且環(huán)境將被控制以便提供一個(gè)簡直沒有灰塵和噪音有益健康的工作區(qū)域。各種不同水平的計(jì)算機(jī)輔助采煤的存在,從遠(yuǎn)程控制到計(jì)算機(jī)輔助操作,在這一個(gè)區(qū)段的剩余者方面被描述。為了從設(shè)備不在視線范圍內(nèi)的控制室的工作面操作采煤設(shè)備,操作員必須依賴來自安裝在設(shè)備的感應(yīng)器和錄像機(jī)的信息。開始的研究將會(huì)包括遠(yuǎn)程控制,即只是在一個(gè)遙遠(yuǎn)的位置,當(dāng)操作采煤設(shè)備的時(shí)候，操作員基本上運(yùn)行和他/她一樣的工作。操作員將會(huì)依賴來自安裝在機(jī)器和/或在操作區(qū)上的錄像機(jī)的輸入，提供機(jī)器的可動(dòng)部份(截割滾筒,擋煤板、運(yùn)送裝置等)的位置的感應(yīng)器,指導(dǎo)感應(yīng)器提供操作員可獲得正常信息，如工作面噪音。計(jì)算機(jī)系統(tǒng)將會(huì)收集來自感應(yīng)器的數(shù)據(jù),經(jīng)過人的接口，像是圖形或者刻度盤和標(biāo)準(zhǔn)度量將數(shù)據(jù)呈現(xiàn)給操作員,以操作員的開始指令為基礎(chǔ)控制機(jī)器的運(yùn)動(dòng)。隨著較多的裝置在設(shè)備上的感應(yīng)器和更加智能的計(jì)算機(jī)軟件發(fā)展，機(jī)器-控制的情節(jié)將會(huì)促進(jìn)計(jì)算機(jī)輔助操作。計(jì)算機(jī)控制系統(tǒng)將進(jìn)一步做出決定操作員只需干涉當(dāng)一種不正常的情形發(fā)生時(shí),像遇到一種完全新的情形時(shí)。由控制計(jì)算機(jī)基于感應(yīng)器輸入和軟件分析和決策，機(jī)器開動(dòng)自動(dòng)開始。這類型的操作，對附加的感應(yīng)器和智能軟件的需要超過遠(yuǎn)程控制。感應(yīng)器需要機(jī)器位置和方向，機(jī)器情況，機(jī)器的運(yùn)動(dòng)部份的位置和正在切的機(jī)器材料的類型。軟件必須隨當(dāng)?shù)厍闆r改變的計(jì)劃，和實(shí)時(shí)感應(yīng)器所決定的輸入事件引導(dǎo)采煤機(jī)。因?yàn)橛龅降那闆r易變，發(fā)展感應(yīng)器和能提供作為一個(gè)人類的相同程度的智力和知覺的計(jì)算機(jī)軟件的困難，對機(jī)器操作來說期望人的要素在地下的煤礦中是不可或缺的。這個(gè)研究的目的是促進(jìn)和發(fā)展計(jì)算機(jī)輔助連續(xù)采煤和頂梁支架機(jī)器的技術(shù)。這項(xiàng)工作在其他的區(qū)域如計(jì)算機(jī)輔助采煤(Volkwein,GoodmanandThiemens,1990)和連續(xù)的拖曳系統(tǒng)的通風(fēng)(Bhatt,1990)也正在進(jìn)行。計(jì)算機(jī)輔助連續(xù)采煤機(jī)技術(shù)組成部分任何智能機(jī)器系統(tǒng)必需的技術(shù)組成部分有指導(dǎo)系統(tǒng),機(jī)器條件系統(tǒng),計(jì)算機(jī)系統(tǒng),機(jī)器控制,人-機(jī)接口和計(jì)劃。對于一部計(jì)算機(jī)輔助機(jī)器，相同的目錄應(yīng)用,基本的機(jī)器是一部連續(xù)滾筒采煤機(jī)。指導(dǎo)系統(tǒng)包括在采煤空間中采煤機(jī)的水平運(yùn)動(dòng)和截割滾筒的垂直運(yùn)動(dòng)。對于水平的指導(dǎo),一部計(jì)算機(jī)輔助采煤機(jī)不僅必須能夠當(dāng)它正在采煤的時(shí)候指導(dǎo)它本身,而且當(dāng)穿過整個(gè)采煤空間移動(dòng)時(shí)也能指導(dǎo)它自己。這需要感應(yīng)器提供關(guān)于機(jī)器位置坐標(biāo)(x,y)，機(jī)器偏航(方向)，煤壁和障礙的位置和距離的信息。計(jì)算機(jī)系統(tǒng)必須采用這個(gè)感應(yīng)器的數(shù)據(jù),而且使用儲(chǔ)存的知識(shí),計(jì)劃機(jī)器動(dòng)作,在工作面定位機(jī)器從而使截割發(fā)生，構(gòu)造或者更新地圖,所有是在實(shí)時(shí)情況下。煤炭局已經(jīng)把水平的航行問題分為如下區(qū)域:工作面，區(qū)段和整個(gè)過煤空間。工作面航行問題正在首先被調(diào)查。一旦這個(gè)問題被解決，區(qū)段和整個(gè)過煤空間的航行問題相對地就容易了。計(jì)算機(jī)輔助采煤機(jī)必須能夠保持截割滾筒在煤層里和采出的只有煤,或依據(jù)要求和煤礦的地質(zhì)條的一些其他的特別情形。對于截割滾筒的垂直指導(dǎo),一個(gè)能決定剩余煤的頂板或底板的厚度,或決定什么時(shí)候截割運(yùn)動(dòng)越過從煤到巖石的邊界的感應(yīng)器系統(tǒng)是不可或缺的。這個(gè)研究即是煤-巖石接口的發(fā)現(xiàn)(CID)。機(jī)器條件包括決策,在實(shí)時(shí)的,連續(xù)采煤機(jī)的主要電的或液壓的情況,當(dāng)失效發(fā)生的時(shí)候在機(jī)器的效率和及時(shí)修理方面援助。最后，這個(gè)系統(tǒng)應(yīng)該能夠預(yù)先預(yù)測發(fā)生的零件失效，以便在非生產(chǎn)期間能夠按照預(yù)定計(jì)劃維修。因?yàn)閷B續(xù)的采煤機(jī)停工時(shí)間在低的生產(chǎn)時(shí)間內(nèi)是一個(gè)重要的因素，機(jī)器有效的增加將會(huì)對效率和生產(chǎn)力有重要的影響。計(jì)算機(jī)系統(tǒng)提供后盾給計(jì)算機(jī)輔助采煤。計(jì)算機(jī)一定接口至多種內(nèi)在的(機(jī)器系統(tǒng))和外部的(周圍的環(huán)境)感應(yīng)器，收集來自感應(yīng)器的數(shù)據(jù),作出基于實(shí)時(shí)的感應(yīng)器數(shù)據(jù)的決定,開始并且實(shí)行機(jī)器控制。機(jī)器控制包括建立采煤機(jī)運(yùn)動(dòng)部分包括截割滾筒，擋煤板，千斤頂，位置追蹤的精確計(jì)算機(jī)(Sammarco,1988a)。閉環(huán)計(jì)算機(jī)控制和基于感應(yīng)器反饋的控制必須被精確和穩(wěn)定地建立。建立閉環(huán)控制,下列的工作被需要:選擇一個(gè)提供機(jī)器零件位置的感應(yīng)器;發(fā)展計(jì)算機(jī)感應(yīng)器和機(jī)器-感應(yīng)器的接口;測試機(jī)器和感應(yīng)器系統(tǒng);分析數(shù)據(jù);制定控制運(yùn)算法則;測試過煤空間的控制;在采煤情況之下測試控制(模擬采煤);分析數(shù)據(jù)。當(dāng)必需時(shí)重復(fù)上述的步驟。人-機(jī)接口被需要，以便操作員能與一部計(jì)算機(jī)輔助機(jī)互動(dòng)提供有效率的機(jī)器控制。當(dāng)遇到一種新的情況或者情形的時(shí)候，一個(gè)操作員可能經(jīng)過一個(gè)接口與機(jī)器互動(dòng)提供新的數(shù)據(jù)、變化優(yōu)先或者計(jì)劃,或干涉。計(jì)劃指需要時(shí)控制整個(gè)的機(jī)器程序的軟件,使采煤機(jī)根據(jù)某些預(yù)定的順序運(yùn)行。在機(jī)